Obstacle Displacement Prediction for Robot Motion Planning and Velocity Changes
This paper introduces a new path-motion planning method for autonomous mobile robot which should move safely in unknown Dynamic environment. The environment may have numbers of obstacles of arbitrary shape and obstacles are allowed to move. We describe our approach to solve the motion-planning problem, using neural networks-based technique .The neural network is used to model the obstacles motion and predict their movements. According to one step ahead prediction of obstacles trajectory, a rulebased technique for avoiding obstacles by adjusting the robots velocity is suggested .This sensor based online method gives a safe but near optimal path. Simulation examples of generated path with proposed techniques will be presented and show the efficiency of the method.
Mobile Robot Dynamic Environment Neural Network Path Planning Speed Control
Sohaila Dadelahi Mohammad Reza Jahed Ali Reza Mohammad Shahri
Islamic Azad University, Qazvin Branch Qazvin, IRAN Motlagh Iran University of Science and Technology Tehran, IRAN Iran University of Science and Technology Tehran, IRAN
国际会议
重庆
英文
194-198
2011-01-21（万方平台首次上网日期，不代表论文的发表时间）